(FP, RK) Add debug output

source/RobotAPI/components/ArViz/Coin/Visualizer.cpp

@@ -272,6 +272,10 @@ namespace armarx::viz
 
     void CoinVisualizer::update()
     {
+        {
+            std::lock_guard lock(timingMutex);
+            lastTiming.updateToggle = (lastTiming.updateToggle + 1) % 10;
+        }
         switch (state)
         {
             case CoinVisualizerState::STARTING:
@@ -312,6 +316,7 @@ namespace armarx::viz
                 // We should restart the pull for updates so it can run in parallel
                 data::LayerUpdates currentUpdates = pulledUpdates;
                 updateResult = CoinVisualizerUpdateResult::WAITING;
+                timing.waitStart = time_start;
                 storage->begin_pullUpdatesSince(currentUpdates.revision, callback);
 
                 auto layerIDsBefore = getLayerIDs();
@@ -343,6 +348,7 @@ namespace armarx::viz
                     // Copy the timing result
                     std::lock_guard lock(timingMutex);
                     timing.counter = lastTiming.counter + 1;
+                    timing.updateToggle = lastTiming.updateToggle;
                     lastTiming = std::move(timing);
                 }
             }
@@ -350,7 +356,13 @@ namespace armarx::viz
             case CoinVisualizerUpdateResult::WAITING:
             {
                 // Still waiting for result
-            } break;
+                {
+                    // Copy the timing result
+                    std::lock_guard lock(timingMutex);
+                    lastTiming.waitDuration = IceUtil::Time::now() - lastTiming.waitStart;
+                }
+            }
+            break;
             case CoinVisualizerUpdateResult::FAILURE:
             {
                 std::unique_lock<std::mutex> lock(stateMutex);

source/RobotAPI/components/ArViz/Coin/Visualizer.h

@@ -174,6 +174,11 @@ namespace armarx::viz
         IceUtil::Time layersChanged = IceUtil::Time::seconds(0);
         IceUtil::Time total = IceUtil::Time::seconds(0);
 
+        IceUtil::Time waitStart = IceUtil::Time::seconds(0);
+        IceUtil::Time waitDuration = IceUtil::Time::seconds(0);
+
+        int updateToggle = 0;
+
         int counter = 0;
     };
 

source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp

@@ -452,7 +452,7 @@ namespace armarx
     void ArVizWidgetController::onTimingObserverUpdate()
     {
         viz::CoinVisualizer_UpdateTiming timing = visualizer.getTiming();
-        if (timing.counter > lastTiming.counter)
+        //if (timing.counter > lastTiming.counter)
         {
             if (debugObserver)
             {
@@ -462,6 +462,8 @@ namespace armarx
                 timingMap["1.2 apply, updateElements (ms)"] = new Variant(timing.applyTotal.updateElements.toMilliSecondsDouble());
                 timingMap["1.3 apply, removeElements (ms)"] = new Variant(timing.applyTotal.removeElements.toMilliSecondsDouble());
                 timingMap["2. layers (ms)"] = new Variant(timing.layersChanged.toMilliSecondsDouble());
+                timingMap["3. wait duration (ms)"] = new Variant(timing.waitDuration.toMilliSecondsDouble());
+                timingMap["4. update toggle"] = new Variant(timing.updateToggle);
                 timingMap["total (ms)"] = new Variant(timing.total.toMilliSecondsDouble());
 
                 timings.push_back(timing.total.toMilliSecondsDouble());